/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#include "Map.h"

#include<mutex>

namespace ORB_SLAM2
{

	Map::Map() :mnMaxKFid(0), mnBigChangeIdx(0)
	{
	}

	void Map::AddKeyFrame(KeyFrame *pKF)
	{
		unique_lock<mutex> lock(mMutexMap);
		mspKeyFrames.insert(pKF);
		if (pKF->mnId > mnMaxKFid)
			mnMaxKFid = pKF->mnId;
	}

	void Map::AddMapPoint(MapPoint *pMP)
	{
		unique_lock<mutex> lock(mMutexMap);
		mspMapPoints.insert(pMP);
	}

	void Map::EraseMapPoint(MapPoint *pMP)
	{
		unique_lock<mutex> lock(mMutexMap);
		mspMapPoints.erase(pMP);

		// TODO: This only erase the pointer.
		// Delete the MapPoint
	}

	void Map::EraseKeyFrame(KeyFrame *pKF)
	{
		unique_lock<mutex> lock(mMutexMap);
		mspKeyFrames.erase(pKF);

		// TODO: This only erase the pointer.
		// Delete the MapPoint
	}

	void Map::SetReferenceMapPoints(const vector<MapPoint *> &vpMPs)
	{
		unique_lock<mutex> lock(mMutexMap);
		mvpReferenceMapPoints = vpMPs;
	}

	void Map::InformNewBigChange()
	{
		unique_lock<mutex> lock(mMutexMap);
		mnBigChangeIdx++;
	}

	int Map::GetLastBigChangeIdx()
	{
		unique_lock<mutex> lock(mMutexMap);
		return mnBigChangeIdx;
	}

	vector<KeyFrame*> Map::GetAllKeyFrames()
	{
		unique_lock<mutex> lock(mMutexMap);
		return vector<KeyFrame*>(mspKeyFrames.begin(), mspKeyFrames.end());
	}

	vector<MapPoint*> Map::GetAllMapPoints()
	{
		unique_lock<mutex> lock(mMutexMap);
		return vector<MapPoint*>(mspMapPoints.begin(), mspMapPoints.end());
	}

	long unsigned int Map::MapPointsInMap()
	{
		unique_lock<mutex> lock(mMutexMap);
		return mspMapPoints.size();
	}

	long unsigned int Map::KeyFramesInMap()
	{
		unique_lock<mutex> lock(mMutexMap);
		return mspKeyFrames.size();
	}

	vector<MapPoint*> Map::GetReferenceMapPoints()
	{
		unique_lock<mutex> lock(mMutexMap);
		return mvpReferenceMapPoints;
	}

	long unsigned int Map::GetMaxKFid()
	{
		unique_lock<mutex> lock(mMutexMap);
		return mnMaxKFid;
	}

	void Map::clear()
	{
		for (set<MapPoint*>::iterator sit = mspMapPoints.begin(), send = mspMapPoints.end(); sit != send; sit++)
			delete *sit;

		for (set<KeyFrame*>::iterator sit = mspKeyFrames.begin(), send = mspKeyFrames.end(); sit != send; sit++)
			delete *sit;

		mspMapPoints.clear();
		mspKeyFrames.clear();
		mnMaxKFid = 0;
		mvpReferenceMapPoints.clear();
		mvpKeyFrameOrigins.clear();
	}

	bool Map::Save(const string &filename) {
		cout << "Saving map points to " << filename << endl;
		ofstream fout(filename.c_str(), ios::out);
		cout << "  writing " << mspMapPoints.size() << " map points" << endl;
		//unsigned long int nbMapPoints = mspMapPoints.size();
		//fout << nbMapPoints;
		for (auto mp : mspMapPoints)
			_WriteMapPointObj(fout, mp);
		map<MapPoint*, unsigned long int> idx_of_mp;
		unsigned long int i = 0;
		for (auto mp : mspMapPoints) {
			idx_of_mp[mp] = i;
			i += 1;
		}
		fout.close();
		return true;
	}

	bool Map::SaveWithTimestamps(const string &filename) {
		cout << "Saving map points to " << filename << endl;
		ofstream fout(filename.c_str(), ios::out);
		cout << "  writing " << mspMapPoints.size() << " map points" << endl;
		//unsigned long int nbMapPoints = mspMapPoints.size();
		//fout << nbMapPoints;
		fout << fixed;
		for (auto mp : mspMapPoints){
			_WriteMapPoint(fout, mp, "");
			std::map<KeyFrame*, size_t> keyframes = mp->GetObservations();
			for (std::map<KeyFrame*, size_t>::iterator it = keyframes.begin(); it != keyframes.end(); it++) {
				fout << setprecision(6) << " " << it->first->mTimeStamp;
			}
			fout << endl;
		}
		fout.close();
		return true;
	}
	bool Map::SaveWithPose(const string &filename) {
		cout << "Saving map points along with keyframe pose to " << filename << endl;
		ofstream fout(filename.c_str(), ios::out);
		cout << "  writing " << mspMapPoints.size() << " map points" << endl;
		//unsigned long int nbMapPoints = mspMapPoints.size();
		//fout << nbMapPoints;
		fout << fixed;
		for (auto mp : mspMapPoints){
			_WriteMapPoint(fout, mp, "");
			std::map<KeyFrame*, size_t> keyframes = mp->GetObservations();
			for (std::map<KeyFrame*, size_t>::iterator it = keyframes.begin(); it != keyframes.end(); it++) {
				fout << setprecision(6) << " " << it->first->mTimeStamp;
			}
			fout << endl;
		}
		fout.close();
		return true;
	}

	void Map::_WriteMapPoint(ofstream &f, MapPoint* mp,
		const std::string &end_marker) {
		cv::Mat wp = mp->GetWorldPos();
		f << wp.at<float>(0) << " "; // pos x: float
		f << wp.at<float>(1) << " "; // pos y: float
		f << wp.at<float>(2) << end_marker; // pos z: float
	}
	void Map::_WriteMapPointObj(ofstream &f, MapPoint* mp,
		const std::string &end_marker) {
		cv::Mat wp = mp->GetWorldPos();
		f << "v ";
		f << wp.at<float>(0) << " "; // pos x: float
		f << wp.at<float>(1) << " "; // pos y: float
		f << wp.at<float>(2) << end_marker; // pos z: float
	}
} //namespace ORB_SLAM
